Autonomous Overtaking Assistant for Country Road Scenarios

2020 American Control Conference (ACC), series 2020 American Control Conference (ACC), 2020
Author(s):Sulejmani F., Reiterer F., Assadi A., Del Re L.
While Advanced Driver Assistance Systems (ADAS) are becoming the longer the more common, most interest has been devoted either to highway traf?c or to special situations like parking. Against this background, this paper focuses on overtaking maneuvers on country roads, and a stochastic model predictive control (MPC) algorithm is implemented to manage this task. The behavior of the surrounding vehicles is predicted stochastically by using Bayesian networks. The overtaking algorithm is tested for various country road traf?c scenarios in a stochastic traf?c environment. To compare the performance of the controller to that of a real human driver a dedicated study in this stochastic traf?c environment is carried out. The results of this study show that the control algorithm provides the safest trip in acceptable travel time.
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